CoLi-BA: Compact Linearization based Solver for Bundle Adjustment

Paper

Introduction

CoLi-BA is an open-source C++ library for solving bundle adjustment problems. CoLi-BA has a very high solution speed, which is several times of the existing solution algorithm.

Install

Requirements

C++17
GCC 7.5+
CMake 3.10+

Dependencies from the default Ubuntu repositories:

    sudo apt-get install \
        wget \
        git \
        cmake \
        build-essential \
        libglew-dev \
        libgtest-dev \
        libgflags-dev \
        libgoogle-glog-dev \
        libatlas-base-dev \
        libsuitesparse-dev \
        libtbb-dev

Install eigen

git clone https://gitlab.com/libeigen/eigen.git
cd eigen
mkdir build && cd build
cmake .. && sudo make install

Install g2o

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake .. && make -j4 &&sudo make install

Compile CoLi-BA

git clone --recursive https://github.com/zju3dv/CoLi-BA.git
cd CoLi-BA/ceres-solver
mkdir build && cd build
cmake .. && make -j4 && sudo make install
cd ../../
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

Getting Started

Download the provided test data or prepare data with your own images.

The input data can be generated by colmap

/data/path/
├── cameras.bin
├── images.bin
└── points3D.bin

Run the following command to solve the BA problems:
```
./bin/main /data/path/ coli
```

Citation

@article{ye2022coli,
  title={CoLi-BA: Compact Linearization based Solver for Bundle Adjustment},
  author={Ye, Zhichao and Li, Guanglin and Liu, Haomin and Cui, Zhaopeng and Bao, Hujun and Zhang, Guofeng},
  journal={IEEE Transactions on Visualization and Computer Graphics},
  year={2022},
  publisher={IEEE}
}

pmoulon / CoLi-BA